Control device

ABSTRACT

Provided is a control device for controlling an electromagnetic actuator that vibrates an operation device by driving the operation device supported by an elastic support part so as to be elastically vibrated in one direction in a vibrating direction thereof, the control device comprising: a current pulse supply unit configured to supply a driving current pulse to a coil of the electromagnetic actuator as a driving current for driving the operation device in accordance with a touch operation of the operation device, wherein the current pulse supply unit supplies the drive current pulse capable of starting the elastic vibration as a main driving current pulse, and then supplies the drive current pulse capable of adjusting attenuation period of the elastic vibration as a sub-driving current pulse.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is entitled to or claims the benefit of Japanese PatentApplication No. 2019-185840, filed on Oct. 9, 2019, the disclosure ofwhich including the specification, drawings and abstract is incorporatedherein by reference in its entirety.

TECHNICAL FIELD

The present invention relates to a control device for driving anelectromagnetic actuator.

BACKGROUND ART

Conventionally, at the time of operating a touch panel that is a sensingpanel, there is known a configuration in which vibration is given by avibration actuator as a touch operation feeling (a feeling of beingoperated by touching) to a finger pulp or the like of an operator whotouches a display screen displayed on the touch panel (see PTL 1 and PTL2).

PTL 1 discloses a portable terminal device in which a vibration actuatoris mounted on a back surface of a touch panel via a vibrationtransmitting part. In this vibration actuator, a movable part isdisposed inside a housing fixed to the vibration transmitting part to bereciprocally movable along a guide shaft disposed vertically withrespect to the touch panel. This vibration actuator gives vibration tothe finger pulp that is touching the touch panel via the vibrationtransmitting part by causing movable part to collide with the housing inresponse to operations to the touch panel.

Further, PTL 2 discloses a vibration presenting device that givesvibration in response to operations to a touch panel. In this vibrationpresenting device, a voice coil motor for generating vibration, asupport part that is disposed with a vibration panel and compressed by aprescribed force, a damper that gives breaking work on the vibration ofa vibration part, and a spring that gives a compression force to thesupport part and the damper are provided in parallel between thevibration panel that is the vibration part presenting vibration and ahousing that supports the vibration panel.

CITATION LIST Patent Literature

PTL 1: Japanese Patent Application Laid-Open No. 2015-070729

PTL 2: Japanese Patent Application Laid-Open No. 2016-163854

SUMMARY OF INVENTION Technical Problem

However, in the vibration presenting device, it is desired to expressvibrations that provide various touch operation feelings depending onapplication and use situation of an operation device.

The present invention has been made in view of the above problems, andan object of the present invention is to provide a control devicecapable of expressing vibrations of various touch operation feelings.

Solution to Problem

A control device of the present invention for controlling anelectromagnetic actuator that vibrates an operation device by drivingthe operation device supported by an elastic support part so as to beelastically vibrated in one direction in a vibrating direction thereof,the control device comprising:

-   -   a current pulse supply unit configured to supply a driving        current pulse to a coil of the electromagnetic actuator as a        driving current for driving the operation device in accordance        with a touch operation of the operation device,    -   wherein the current pulse supply unit is configured to supply        the drive current pulse capable of starting the elastic        vibration as a main driving current pulse, and then supply the        drive current pulse capable of adjusting attenuation period of        the elastic vibration as a sub-driving current pulse.

Advantageous Effects of Invention

The present invention is capable of expressing vibrations of varioustouch operation feelings.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a side view showing a vibration presenting device having acontrol device according to an embodiment of the present invention;

FIG. 2 is a plan side external perspective view of an electromagneticactuator as an example which is controlled driving by the control deviceaccording to an embodiment of the present invention;

FIG. 3 is a bottom side external perspective view of the sameelectromagnetic actuator;

FIG. 4 is a plan view of the same electromagnetic actuator;

FIG. 5 is a cross-sectional view taken along the line A-A of FIG. 4;

FIG. 6 is an exploded perspective view of the same electromagneticactuator;

FIG. 7 is a cross-sectional view showing a situation in which a sensoris provided in the same electromagnetic actuator;

FIG. 8 is a diagram showing a magnetic circuit configuration of the sameelectromagnetic actuator;

FIG. 9A is a diagram for explaining operation of the sameelectromagnetic actuator;

FIG. 9B is a diagram for explaining operation of the sameelectromagnetic actuator;

FIG. 10 is a diagram for explaining the control device according to anembodiment of the present invention;

FIG. 11 is a diagram for explaining a displacement of a movable partwhen supplying a main current pulse to the electromagnetic actuator;

FIG. 12 is a diagram showing an example of an electromagnetic actuatordrive signal input to the electromagnetic actuator of the control deviceaccording to an embodiment of the present invention;

FIG. 13 is a diagram showing an example of an electromagnetic actuatordrive signal input to the electromagnetic actuator of the control deviceaccording to an embodiment of the present invention;

FIG. 14 is a diagram showing an example of an electromagnetic actuatordrive signal input to the electromagnetic actuator of the control deviceaccording to an embodiment of the present invention;

FIG. 15 is a diagram showing an example of an electromagnetic actuatordrive signal input to the electromagnetic actuator of the control deviceaccording to an embodiment of the present invention;

FIG. 16 is a diagram showing an example of an electromagnetic actuatordrive signal input to the electromagnetic actuator of the control deviceaccording to an embodiment of the present invention;

FIG. 17 is a diagram showing an example of an electromagnetic actuatordrive signal input to the electromagnetic actuator of the control deviceaccording to an embodiment of the present invention;

FIG. 18 is a diagram for explaining a supply timing of a sub-drivepulse;

FIG. 19 is a flowchart showing an example of an operation for drivingthe electromagnetic actuator by the control device according to anembodiment of the present invention;

FIG. 20A is a flowchart showing an example of an operation for drivingthe electromagnetic actuator by the control device according to anembodiment of the present invention;

FIG. 20B is a flowchart showing an example of an operation for drivingthe electromagnetic actuator by the control device according to anembodiment of the present invention; and

FIG. 20C is a flowchart showing an example of an operation for drivingthe electromagnetic actuator by the control device according to anembodiment of the present invention.

DESCRIPTION OF EMBODIMENTS

Hereinafter, embodiments of the present invention will be described indetail by referring to the accompanying drawings.

An orthogonal coordinate system (X, Y, Z) is used for explanation in thepresent embodiments. The same orthogonal coordinate system (X, Y, Z) isalso used for showing in drawings described later. Hereinafter, thewidth, length, and height of vibration presenting device 200 havingcontrol device 1 are lengths in X-direction, Y-direction, andZ-direction, respectively. The width, length, and height ofelectromagnetic actuator 10 are also lengths in X-direction,Y-direction, and Z-direction, respectively. In addition, a plus side inZ-direction is a direction to give vibration feedback to an operator,which is described as “upper side”. A minus side in Z-direction is adirection to be pressed when the operator operates, which is describedas “lower side”.

(Basic Configuration of Vibration Presenting Device 200 Using ControlDevice 1)

Vibration presenting device 200 shown in FIG. 1 includes control device1, electromagnetic actuator 10 that is controlled driving by controldevice 1, and an operation device (touch panel 2) that is performed atouch operation by an operator. In vibration presenting device 200,vibration is given to the operation device in response to the touchoperation to the operation device of the operator. That is, a touchoperation feeling (also referred to as “haptic feeling”) is given to theoperator who touches and operates the operation device via the operationdevice. In the present embodiment, the operation device is touch panel 2which displays a screen and is operated by touching the screen. Touchpanel 2 is a touch panel such as an electrostatic type, a resistive filmtype, and an optical type. Touch panel 2 detects a touch position of theoperator. Touch panel 2 is controlled by control device 1. Controldevice 1 can obtain the touch position of the user through a touch panelcontrol part which is not illustrated. Further, the screen of touchpanel 2 may comprise a display part such as a liquid crystal system, anorganic EL system, an electronic paper system, a plasma system, and maybe controlled by control device 1. Control device 1 controls a displayinformation control part which is not illustrated and presents imagecorresponding to the type of presentation vibration on the screen to theoperator.

Vibration presenting device 200 is used, for example, as an electronicdevice, as a touch panel device of a car navigation system. Vibrationpresenting device 200 functions as a device that presents vibration tothe operator who operates by touching screen 2 a of touch panel 2. Atthis time, any electronic device that gives the haptic feeling to theoperator by presenting vibration to the operator who touches a vibrationobject may be used as vibration presenting device 200. For example,vibration presenting device 200 may be an image device such as a smartphone, a tablet-type computer, a TV, or the like, a game machine with atouch panel, a game controller with a touch panel, or the like.

In the present embodiment, in vibration presenting device 200, whenscreen 2 a of touch panel 2 is operated by touching the finger pulp orthe like of the operator to screen 2 a of touch panel 2, control device1 drives electromagnetic actuator 10 to vibrate in response to theoperation. This vibration gives the haptic feeling to the operator.Control device 1 of the present embodiment gives various types of thehaptic feelings corresponding to a display image operated by theoperator. For example, control device 1 gives the haptic feeling as amechanical switch such as a haptic switch, alternate type switch,momentary switch, toggle switch, sliding switch, rolling switch, DIPswitch and a locker switch. Further, control device 1 may also give thehaptic feeling of the switch with different degrees of push-in in a pushtype switch.

In vibration presenting device 200, an operation device, which does nothave a display function and can be simply touched and operated by theoperator, may be used instead of touch panel 2 as the operation device.

In vibration presenting device 200 shown in FIG. 1, electromagneticactuator 10 is disposed between touch panel 2 and base 3 as a backsurface part of the device disposed at the back surface side of touchpanel 2. Control device 1 may be provided in electromagnetic actuator 10itself or base 3.

Touch panel 2, at the back side thereof, is fixed to surface-part fixingpart 44 of movable part 40 (see FIG. 2) of electromagnetic actuator 10.Further, base 3 is disposed to face touch panel 2, fixing part 30 ofelectromagnetic actuator 10 is fixed to base 3 via pillar parts 3 a.Thus, electromagnetic actuator 10 is disposed so as to connect eachother between each of the central portion of touch panel 2 and base 3.

Touch panel 2 itself is driven integrally with movable part 40 ofelectromagnetic actuator 10. When the operator performs an operation bypressing the screen of touch panel 2, the direction in which the fingeror the like of the operator touches the screen, for example, thedirection pressing perpendicularly to the screen of touch panel 2 is thesame direction as the Z direction which is the vibrating direction ofmovable part 40 in electromagnetic actuator 10.

Thus, according to vibration presenting device 200 in which controldevice 1, touch panel 2 and electromagnetic actuator 10 are mounted,touch panel 2 can be directly vibrated because touch panel 2 can bedirectly operated, that is, touch panel 2 is driven together withmovable part 40 in the same direction as a touching direction of thefinger.

Therefore, when an image such as the mechanical switch displayed ontouch panel 2 is operated by touching, moving movable part 40 makes itpossible to give a vibration to be an operation feeling whichcorresponds to the image, for example, a vibration to be a touchoperation feeling same as the operation feeling when an actualmechanical switch is operated. This makes it possible to express acomfortable operation.

<Entire Configuration of Electromagnetic Actuator 10>

FIG. 2 is a plan side external perspective view of electromagneticactuator 10 as an example which is controlled driving by the controldevice according to an embodiment of the present invention, FIG. 3 is abottom side external perspective view of the same electromagneticactuator 10, and FIG. 4 is a plan view of the same electromagneticactuator. FIG. 5 is a cross-sectional view taken along the line A-A ofFIG. 4, and FIG. 6 is an exploded perspective view of the sameelectromagnetic actuator 10 of the control device according to anembodiment of the present invention. Further, FIG. 7 is across-sectional view showing a situation in which a sensor is providedin the same electromagnetic actuator.

In the present embodiment, electromagnetic actuator 10 shown in FIGS. 2to 7 is mounted in an electronic device to which control device 1 isapplied, and functions as a vibration generating source of touch panel 2(see FIG. 1) which is an example of an operation device.

Electromagnetic actuator 10 drives movable part 40 in one direction tomove movable part 40 in the direction opposite to the one direction byan urging force of the members (plate-shaped elastic parts 50) forgenerating the urging force. This allows electromagnetic actuator 10 tofunction as a vibration actuator to move movable part 40 in a linearreciprocating motion (vibration).

It allows the operator who touches touch panel 2 to perform intuitiveoperations by transmitting vibrations to the operator to feel bodilysensations in response to touch operations by the operator on screen 2 aof touch panel 2. Note that touch panel 2 includes a contact positionoutput part that receives a touch operation of the operator on touchpanel 2 and outputs the contact position thereof. Control device 1outputs an actuator drive signal to electromagnetic actuator 10 andsupplies a drive current so that vibrations corresponding to the touchoperations are generated to supply the drive current based on a contactposition information output by the contact position output part and adrive timing. Electromagnetic actuator 10 that receives the drivingcurrent from control device 1 generates vibrations corresponding to thecontact positions output from touch panel 2 and transmits the vibrationsto touch panel 2 to directly vibrate touch panel 2. In this way, theoperation of the operator received touch panel 2 is received, andelectromagnetic actuator 10 is driven correspondingly thereto.

Electromagnetic actuator 10 moves movable part 40 in one direction (e.g.the minus side in Z-direction) against the urging force by being inputthe actuator drive signal via control device 1. Further, the urgingforce is released, movable part 40 is moved in the other direction (theplus side in Z-direction) by the urging force by being stopped the inputof the actuator drive signal to electromagnetic actuator 10.Electromagnetic actuator 10 vibrates movable part 40 and the operationdevice by inputting and stopping the actuator drive signal.Electromagnetic actuator 10 drives movable part 40 without using amagnet, and vibrates the operation device.

Note that, in the present embodiment, the actuator drive signalcorresponds to a plurality of driving current pulses (also referred toas “current pulse”) supplied to coil 22 as a driving current for drivingmovable part 40 and the operation device. In electromagnetic actuator10, movable part 40 moves in one direction when the current pulse issupplied to coil 22.

Electromagnetic actuator 10 includes fixing part 30 having base part 32and core assembly 20 formed by winding coil 22 around core 24, movablepart 40 having yokes 41 of the magnetic material, and plate-shapedelastic parts (elastic support parts) 50 (50-1, 50-2) for elasticallysupporting movable part 40 to be movable in the vibrating direction withrespect to fixing part 30.

Electromagnetic actuator 10 drives movable part 40 which is movablysupported by plate-shaped elastic parts 50 so as to move in onedirection with respect to fixing part 30. Further, the movement in onedirection and the opposite direction of movable part 40 is performed bythe urging force of plate-shaped elastic parts 50.

Specifically, electromagnetic actuator 10 vibrates yokes 41 of movablepart 40 with core assembly 20. Specifically, movable part 40 is vibratedwith the attraction force of energized coil 22 and excited core 24 byenergized coil 22 as well as the urging force by plate-shaped elasticparts 50 (50-1, 50-2).

Electromagnetic actuator 10 is formed in a flat shape having theZ-direction as the thickness direction. Electromagnetic actuator 10vibrates movable part 40 in the Z-direction, i.e., the thicknessdirection as the vibrating direction with respect to fixing part 30,thereby bringing closer or away one of front and back surfaces spacedapart from each other in the thickness direction of electromagneticactuator 10 itself with respect to the other surface in the Z-direction.

In the present embodiment, electromagnetic actuator 10 moves movablepart 40 to the minus side in Z-direction as the one direction by theattraction force of core 24, and moves movable part 40 to the plus sidein Z-direction by the urging force of plate-shaped elastic parts 50(50-1, 50-2).

In electromagnetic actuator 10 of the present embodiment, movable part40 is elastically supported by a plurality of plate-shaped elastic parts50 (50-1, 50-2) that is disposed along the direction orthogonal to theZ-direction at point symmetrical positions with respect to the movingcenter of movable part 40. However, the configuration is not limitedthereto.

Plate-shaped elastic parts 50 are fixed between movable part 40 andfixing part 30, includes an elastically deformable bellows-shaped part,and elastically supports movable part 40 with respect to fixing part 30to be movable in the direction opposing to at least one end of both ends(magnetic pole parts 242, 244) of core 24. As long as plate-shapedelastic parts 50 have such a configuration, plate-shaped elastic parts50 may be provided in any way. For example, plate-shaped elastic parts50 may elastically support movable part 40 with respect to fixing part30 (core assembly 20) to be movable in the direction opposing to one end(magnetic pole part 242 or magnetic pole part 244) of core 24. Further,plate-shaped elastic parts 50-1, 50-2 may be disposed line symmetricallywith respect to the center of movable part 40, and two or moreplate-shaped elastic parts 50 may be used. Each of plate-shaped elasticparts 50-1 and 50-2 are fixed to fixing part 30 at one end side andfixed to movable part 40 at the other end side to movably supportmovable part 40 with respect to fixing part 30 in the vibratingdirection (Z-direction, and it is up-and-down direction herein).

<Fixing Part 30>

As shown in FIGS. 5 to 9, fixing part 30 includes core assembly 20having coil 22 and core 24, and base part 32.

Base part 32 has core assembly 20 fixed thereto and supports movablepart 40 via plate-shaped elastic parts 50 (50-1, 50-2) to be movable inthe vibrating direction. Base part 32 is a flat-shape member, and formsthe bottom surface of electromagnetic actuator 10. Base part 32 includesattaching parts 32 a to which one end of each of plate-shaped elasticparts (50-1, 50-2) are fixed so as to sandwich core assembly 20. Each ofattaching parts 32 a is disposed with a same space provided from coreassembly 20. Note that the space is a space to be a deforming area ofplate-shaped elastic parts 50 (50-1, 50-2).

Attaching parts 32 a include fixing holes 321 for fixing plate-shapedelastic parts 50 (50-1, 50-2) and fixing holes 322 for fixing base part32 to base 3 (see FIG. 1). Fixing holes 322 are provided at both ends ofattaching parts 32 a so as to sandwich fixing holes 321. Thereby, basepart 32 is entirely and stably fixed to base 3 (see FIG. 1).

In the present embodiment, base part 32 is formed by processing a sheetmetal and configured such that one side part and the other side part asattaching parts 32 a are spaced apart from each other in the widthdirection with bottom surface part 32 b interposed therebetween. Arecessed part having bottom surface part 32 b lower in height than thatof attaching parts 32 a is provided between attaching parts 32 a. Insidethe recessed part, that is, the space on the top surface side of bottomsurface part 32 b is for securing the elastic deforming area ofplate-shaped elastic parts 50 (50-1, 50-2), and for securing a movablearea of movable part 40 supported by plate-shaped elastic parts 50(50-1, 50-2).

Bottom surface part 32 b is a rectangular shape, opening part 36 isformed in the center thereof, and core assembly 20 is located insideopening part 36.

Opening part 36 is a shape corresponding to the shape of core assembly20. Opening part 36 is formed in a square shape in the presentembodiment. Thereby, entire electromagnetic actuator 10 can be shapedsubstantially into a square shape on a plan view by disposing coreassembly 20 and movable part 40 in the center of electromagneticactuator 10. Note that opening part 36 may be a rectangular shape(including a square shape).

Split body 26 b of bobbins 26 on the lower side of core assembly 20 anda lower-side part of coil 22 are inserted inside opening part 36, andfixed such that core 24 is located on bottom surface part 32 b on a sideview. Thereby, length (thickness) in the Z-direction becomes decreasedas compared with a configuration where core assembly 20 is attached onbottom surface part 32 b. Further, core assembly 20 is firmly fixed in astate where it is hard to come off from bottom surface part 32 b becausea part of core assembly 20, that is, a part of the bottom surface sideherein, is fixed while being fitted into opening part 36.

Core assembly 20 is configured by winding coil 22 around circumferenceof core 24 via bobbins 26.

Core assembly 20 vibrates (linearly reciprocates in the Z-direction)yokes 41 of movable part 40 in cooperation with plate-shaped elasticparts 50 (50-1, 50-2) when coil 22 is energized.

In the present embodiment, core assembly 20 is formed in a rectangularplate-shaped. Magnetic pole parts 242 and 244 are disposed in both sideportions of the rectangular plate-shaped spaced from each other in thelongitudinal direction.

These magnetic pole parts 242 and 244 are disposed so as to be able tooppose to attracted surface parts 46 and 47 of movable part 40 with gapG provided therebetween in the X-direction. In the present embodiment,counter surfaces (counter surface parts) 20 a, 20 b as the uppersurfaces are diagonally adjacent to the bottom surfaces of attractedsurface parts 46, 47 of yokes 41 in the vibrating direction(Z-direction) of movable part 40.

As shown in FIG. 2, core assembly 20 is fixed to base part 32 with awinding axis of coil 22 aligned toward the opposing direction(X-direction perpendicular to the vibrating direction) of spacedattaching parts 32 a in base part 32. In the present embodiment, coreassembly 20 is disposed in the center of base part 32, specifically inthe center of bottom surface part 32 b. As shown in FIGS. 3 to 9, coreassembly 20 is fixed to bottom surface part 32 b such that core 24 islocated on the bottom surface over opening part 36 while being inparallel to bottom surface part 32 b. Core assembly 20 is fixed in astate where coil 22 and the part (core main body 241) to which coil 22is wound are located within opening part 36 of base part 32.Specifically, core assembly 20 is fixed to bottom surface part 32 b byfastening screw 68 through fixing holes 28 and fastening holes 33 (seeFIG. 6) of bottom surface part 32 b in a state where coil 22 is disposedin opening part 36. Core assembly 20 and bottom surface part 32 b arejoined at two points on the axial center of coil 22 by sandwiching coil22 with screws 68 as a fastening member at both side parts of openingpart 36 spaced from each other in the Y-direction and magnetic poleparts 242, 244.

Coil 22 is a solenoid that is energized and generates a magnetic fieldat the time of driving electromagnetic actuator 10. Coil 22 togetherwith core 24 and movable part 40 forms a magnetic circuit (magneticpath) that attracts and moves movable part 40. Note that power issupplied to coil 22 from an external power source via control device 1.For example, the power is supplied to coil 22 to drive electromagneticactuator 10 by supplying a driving current from control device 1 toelectromagnetic actuator 10.

Core 24 includes core main body 241 around which coil 22 is wound, andmagnetic pole parts 242, 244 provided at both ends of core main body 241and excited by energizing coil 22. Core 24 may be in any types ofconfiguration as long as it is a configuration having the length withwhich the both ends can function as magnetic pole parts 242, 244 whencoil 22 is energized. For example, while it is possible to employ astraight-type (I-type) tabular shape, core 24 of the present embodimentis formed in an H-type tabular shape on a plan view.

When formed as an I-type core, the area of surfaces (air gap sidesurface) on attracted surface parts 46, 47 side opposing to the bothends (magnetic pole parts) of the I-type core with air gap G providedtherebetween becomes narrower. Thereby, magnetic resistance in themagnetic circuit may be increased, so that the conversion efficiency maybe deteriorated. Further, when the bobbins are attached to the core,there may be no space or may only be a small space for positioning ofthe bobbins in the longitudinal direction of the core, so that it isnecessary to provide the space for positioning separately. In themeantime, because core 24 is the H-type, the gap side surface in theboth ends of core main body 241 can be expanded in the front-and-reardirections (Y-directions) longer than the width of core main body 241around which coil 22 is wound, thereby making it possible to decreasethe magnetic resistance and improve the efficiency of the magneticcircuit. Further, positioning of coil 22 can be performed by simplyfitting bobbins 26 between portions of magnetic pole parts 242, 244extended out from core main body 241, so that it is unnecessary toseparately provide a positioning member of bobbins 26 for core 24.

In core 24, magnetic pole parts 242 and 244 are provided at each of theboth ends of tabular core main body 241 around which coil 22 is wound bybeing projected toward the direction orthogonal to the winding axis ofcoil 22. Core 24 is of a magnetic material made of a soft magneticmaterial or the like, and formed from, for example, a silicon steelsheet, permalloy, ferrite or the like. Further, core 24 may also be madeof electromagnetic stainless steel, a sintered material, an MIM (metalinjection mold) material, a laminated steel sheet, an electrogalvanizedsteel sheet (SECC), or the like.

Magnetic pole parts 242 and 244 are excited by energizing coil 22,attract and move yokes 41 of movable part 40 spaced in the vibratingdirection (Z-direction). Specifically, magnetic pole parts 242 and 244attract, by a magnetic flux to be generated, attracted surface parts 46and 47 of movable part 40 counter-disposed via gap G.

In the present embodiment, magnetic pole parts 242 and 244 are tabularbodies extended in the Y-direction that is the vertical direction withrespect to core main body 241 extended in the X-direction. Magnetic poleparts 242 and 244 are lengthy in the Y-direction, so that the area ofcounter surfaces 20 a and 20 b opposing to yokes 41 are wider than theconfiguration formed in the both ends of core main body 241.

Bobbins 26 are disposed to surround core main body 241 of core 24 in thedirection orthogonal to the vibrating direction. Bobbins 26 are formedfrom a resin material, for example. This makes it possible to secureelectrical insulation with other metallic members (for example, core24), so that reliability as the electric circuit can be improved. Byusing a resin of high fluidity for the resin material, formability canbe improved so that the thickness can be decreased while securing thestrength of bobbins 26. Note that split bodies 26 a and 26 b are mountedso as to sandwich core main body 241, so that bobbins 26 are formed in acylindrical shape that covers the periphery of core main body 241. Inbobbins 26, a flange is provided to the both ends of the cylindricalbody so that coil 22 is defined so as to be located on the outercircumference of core main body 241.

<Movable Part 40>

Movable part 40 is disposed to oppose to core assembly 20 with gapprovided therebetween in the direction orthogonal to the vibratingdirection (Z-direction). Movable part 40 is provided to be able toreciprocally vibrate in the vibrating direction with respect to coreassembly 20.

Movable part 40 includes yokes 41, and includes movable-part side fixingparts 54 of plate-shaped elastic parts 50-1 and 50-2 fixed to yokes 41.

Movable part 40 is disposed in a state (standard normal position) beinghanged while being spaced substantially in parallel and to be movable inthe approaching/leaving directions (Z-directions) with respect to bottomsurface part 32 b via plate-shaped elastic parts 50 (50-1, 50-2).

Yoke 41 is a magnetic path of the magnetic flux generated when energizedto coil 22, and is a tabular body made of a magnetic material such aselectromagnetic stainless steel, a sintered material, an MIM (metalinjection mold) material, a laminated steel sheet, an electrogalvanizedsteel sheet (SECC), or the like. In the present embodiment, yoke 41 isformed by processing an SECC sheet.

Yokes 41 are hanged to oppose to core assembly 20 with gap G (see FIG.7) provided therebetween in the vibrating direction (Z-direction) byplate-shaped elastic parts 50 (50-1, 50-2) fixed to respective attractedsurface parts 46 and 47 spaced from each other in the X-direction.

Yokes 41 include surface-part fixing parts 44 to which the operationdevice (see touch panel 2 shown in FIG. 1) is attached, and attractedsurface parts 46 and 47 counter-disposed with respect to magnetic poleparts 242 and 244.

Yoke 41 is formed in a rectangular frame shape having opening part 48 inthe center thereof, and includes surface-part fixing part 44 andattracted surface parts 46, 47 surrounding opening part 48.

Opening part 48 opposes to coil 22. In the present embodiment, openingpart 48 is located right above coil 22, and the opening shape of openingpart 48 is formed in a shape to which coil 22 part of core assembly 20can be inserted when yokes 41 moves to bottom surface part 32 b side.

By configuring yokes 41 to have opening part 48, the thickness of theentire electromagnetic actuator can be decreased as compared to a casehaving no opening part 48.

Further, core assembly 20 is located within opening part 48, so thatyokes 41 are not disposed in the vicinity of coil 22. Therefore, it ispossible to suppress deterioration in the conversion efficiency due tothe magnetic flux leaked from coil 22, so that high output can beachieved.

Surface-part fixing part 44 includes fixing surface 44 a that comes insurface-contact to fix touch panel 2 as an example of the operationdevice. Fixing surface 44 a forms a trapezoid shape on a plan view, andsurface-contacts with touch panel 2 that is fixed to surface-part fixingpart 44 via fastening member such as a screw inserted into surface-partfixing holes 42.

Movable-part side fixing parts 54 of plate-shaped elastic parts 50-1 and50-2 are fixed by being laminated, respectively, on attracted surfaceparts 46 and 47. Attracted surface parts 46 and 47 are provided withcutouts 49 functioning as clearance of the heads of screws 64 of coreassembly 20 when moved to bottom surface part 32 b side. Thereby, evenwhen movable part 40 moves to bottom surface part 32 b side andattracted surface parts 46, 47 approach magnetic pole parts 242, 244,attracted surface parts 46, 47 are not to be in contact with screws 68that fix magnetic pole parts 242, 244 to bottom surface part 32 b, sothat movable areas of yokes 41 in the Z-direction can be secured forthat.

<Plate-Shaped Elastic Parts 50 (50-1, 50-2)>

Plate-shaped elastic parts 50 (50-1, 50-2) movably support movable part40 with respect to fixing part 30. Plate-shaped elastic parts 50 (50-1,50-2) support the upper surface of movable part 40 so as to be parallelto each other at the same height as the upper surface of core assembly20, or at the lower surface side of the upper surface of fixing part 30(the upper surface of core assembly 20 in this embodiment). Plate-shapedelastic parts 50-1 and 50-2 have a symmetrical shape with respect to thecenter of movable part 40, and are members formed in the same manner inthe present embodiment.

Plate-shaped elastic parts 50 are arranged yokes 41 substantially inparallel so as to face to magnetic pole parts 242 and 244 of core 24 ofcore assembly 20 with a gap G. Plate-shaped elastic parts 50 movablysupport the lower surface of movable part 40 in the vibrating directionat the position of bottom surface part 32 b side of the substantiallysame height level as the height level of the upper surface of coreassembly 20.

Plate-shaped elastic part 50 is a plate spring, and includes fixing-partside fixing part 52, movable-part side fixing part 54, andbellows-shaped elastic arm parts 56 that communicate fixing-part sidefixing part 52 with movable-part side fixing part 54.

Plate-shaped elastic part 50 attaches fixing-part side fixing part 52 tothe surface of attaching parts 32 a, attaches movable-part side fixingparts 54 to the surfaces of the attracted surface parts 46 and 47 ofyokes 41, and attaches movable part 40 with bellows-shaped elastic armparts 56 parallel to bottom surface part 32 b.

Fixing-part side fixing parts 52 are joined and fixed by screws 62 insurface contact with attaching parts 32 a, and movable-part side fixingparts 54 are joined and fixed by screws 64 in surface contact with theattracted surface parts 46 and 47.

Bellows-shaped elastic arm part 56 is an arm part having abellows-shaped part. Bellows-shaped elastic arm part 56 in the presentembodiment has a shape which extends in the opposing direction offixing-part side fixing parts 52 and movable-part side fixing parts 54and folds back. In bellows-shaped elastic arm part 56, ends respectivelyjoined to fixing-part side fixing parts 52 and movable-part side fixingparts 54 are formed at positions shifted in the Y direction.Bellows-shaped elastic arm parts 56 are disposed in a position of pointsymmetry or line symmetry with respect to the center of movable part 40.

Thereby, movable part 40 is supported from both sides by bellows-shapedelastic arm parts 56 having bellows-shaped springs, so that it ispossible to disperse the stress at the time of elastic deformation. Thatis, plate-shaped elastic parts 50 can move movable part 40 in thevibrating direction (Z-direction) without tilting with respect to coreassembly 20, thereby making it possible to improve reliability of thevibrating state.

Each of plate-shaped elastic parts 50 includes at least two or morebellows-shaped elastic arm parts 56. Thereby, compared to a case whereeach of plate-shaped elastic parts 50 includes only one bellows-shapedelastic arm part, plate-shaped elastic parts 50 make it possible toimprove the reliability by dispersing the stress at the time of elasticdeformation and to improve the stability by balancing the support formovable part 40 better.

Plate-shaped elastic parts 50 in the present embodiment are formed froma magnetic material. Further, movable-part side fixing parts 54 ofplate-shaped elastic parts 50 are disposed at positions opposing to bothends (magnetic pole parts 242, 244) of core in a coil winding axisdirection or on the upper side thereof and function as a magnetic path.In the present embodiment, movable-part side fixing parts 54 are fixedby being laminated on the upper side of the attracted surface parts 46and 47. This makes it possible to increase thickness (Z-direction, thelength of the vibrating direction) H (see FIG. 7) of the attractedsurface parts 46 and 47 opposing to the magnetic pole parts 242, 244 ofcore assembly as the thickness of the magnetic material. The thicknessof plate-shaped elastic parts 50 and the thickness of yokes 41 are thesame, so that the cross sectional area of the magnetic material portionopposing to magnetic pole parts 242, 244 can be doubled. Thereby,compared to a case where the plate spring is nonmagnetic, it is possibleto ease the degradation of properties due to magnetic saturation inmagnetic circuits and to improve the output, by expanding the magneticpath of the magnetic circuit.

Note that electromagnetic actuator 10 of the present embodiment may beprovided with a detection part that detects push-in amount of movablepart 40 when the operation surface part fixed by surface-part fixingpart 44 is operated. In the present embodiment, for example, as shown inFIGS. 6 to 7, strain detection sensor 70 that detects strain ofplate-shaped elastic parts 50 may be provided as a detection part.

Strain detection sensor 70 detects strain of plate-shaped elastic parts50 that are deformed when surface-part fixing part 44 is pushed intobottom surface part 32 b side. Detected strain is output to the controlpart and the like, coil 22 is energized to attract and move yokes 41such that movable part 40 moves in an amount corresponding to thestrain.

In the present embodiment, if control device 1 can detect the touch ofthe operator to the operation device, the vibration feedback to thecontact can be realized without determining the moving amount of theoperation device to be operated. In addition, if the push-in amountagainst plate-shaped elastic parts 50 can be detected with the movingamount corresponding to the moving amount of the actual operationdevice, a more natural feeling can be expressed by using this detectionresult.

Further, strain detection sensor 70 may be used to adjust the vibrationperiod of movable part 40 (touch panel 2, which is the operation device)when a drive current pulse is supplied by a current pulse supply unit ofcontrol device 1 based on the contact operation of the operator, i.e.,the detection result of the sensor that detects the push-in amount ofmovable part 40. Further, apart from strain detection sensor 70, inconjunction with the display form of the contact position of theoperator detected by touch panel 2, an operation signal indicating theoperation state may be output to control device 1 so as to generatevibration corresponding to the display form, and control device 1 may becontrolled accordingly.

Note that, in bellows-shaped elastic arm parts 56 of plate-shapedelastic parts 50, strain detection sensor 70 is attached to the vicinityof the base having large distortion, and placed to an area that does notinterfere with the other member, so-called dead space. Note that,instead of strain detection sensor 70, a detection part for push-indetection such as an electrostatic capacity sensor which measures thedistance to plate-shaped elastic parts 50 which are pushed in anddisplaced may be placed on bottom surface part 32 b facing thedeformable portion of plate-shaped elastic parts 50 under plate-shapedelastic parts 50.

FIG. 8 is a diagram showing a magnetic circuit of electromagneticactuator 10. Note that FIG. 8 is a perspective view of electromagneticactuator 10 cut by the line A-A in FIG. 4. The portion of the magneticcircuit not shown has the same magnetic flux flow M as the portion ofthe magnetic circuit shown. Further, FIG. 9 is a cross-sectional viewschematically showing the movement of movable part by the magneticcircuit. In particular, FIG. 9A is a diagram showing a state in whichmovable part 40 is held at a position separated from core assembly 20 bythe plate-shaped elastic parts 50. FIG. 9B shows a movable part 40 whichis moved is attracted to core assembly 20 side by the magnetomotiveforce by the magnetic circuit.

Specifically, when coil 22 is energized, core 24 is excited and amagnetic field is generated, thereby forming magnetic poles in both endsof core 24. For example, in FIG. 8, magnetic pole part 242 is theN-pole, and magnetic pole part 244 is the S-pole in core 24. Thereby,the magnetic circuit indicated by magnetic flux flow M is formed betweencore assembly 20 and yokes 41. Magnetic flux flow M in the magneticcircuit flows to attracted surface part 46 of opposing yokes 41 frommagnetic pole part 242, passes through surface-part fixing part 44 ofyokes 41, and reaches magnetic pole part 244 opposing to attractedsurface part 47 from attracted surface part 47. In the presentembodiment, plate-shaped elastic parts 50 are also of magneticmaterials. Thereby, the magnetic flux (illustrated as magnetic flux flowM) flown to attracted surface part 46 passes through attracted surfacepart 46 of yokes 41 and movable-part side fixing parts 54, reachingattracted surface part 46 and both ends of movable-part side fixingparts 54 of plate-shaped elastic part 50-2 via surface-part fixing part44 from both ends of attracted surface part 46.

Thereby, according to the principle of electromagnetic solenoid,magnetic pole parts 242, 244 of core assembly 20 generate attractionforce F for attracting attracted surface parts 46, 47 of yokes 41.Thereupon, attracted surface parts 46, 47 of yokes 41 are attracted toboth of magnetic pole parts 242, 244 of core assembly 20. Thereby, coil22 is inserted into opening part 48 of yokes 41, and movable part 40including yokes 41 moves in F-direction against the urging force ofplate-shaped elastic parts 50 (see FIG. 9A and FIG. 9B).

In the meantime, when energization to coil 22 is stopped, the magneticfield disappears, attraction force F of core assembly 20 for movablepart 40 is lost, and movable part 40 is moved back to the originalposition (moved to F-direction minus side) by the urging force ofplate-shaped elastic parts 50.

By repeating such action described above, in electromagnetic actuator10, movable part 40 reciprocally moves in a linear manner and generatesvibration in the vibrating direction (Z-direction).

By reciprocating movable part 40 in a linear manner, touch panel 2 asthe operation device to which movable part 40 is fixed, is alsodisplaced in the Z direction following movable part 40. In the presentembodiment, the displacement of movable part 40 due to driving, that is,the displacement G1 (see FIG. 1) of touch panel 2 ranges from 0.03 mm to0.3 mm. The range of this displacement is a range in which vibrationcorresponding to the display pressed by the operator can be applied onscreen 2 a of touch panel 2 as the operation device. For example, whenthe display to be pressed by the operator on screen 2 a is a mechanicalbutton or various switches, the range of amplitude is such that the samehaptic feeling can be given as when the mechanical button or variousswitches are actually pressed. This range is set when a smalldisplacement of the amplitude of movable part 40 results in inadequatehaptic feeling, and a large displacement of the amplitude of movablepart 40 results in discomfort.

In electromagnetic actuator 10, it is possible to increase theefficiency of the magnetic circuit and achieve high output by disposingattracted surface parts 46, 47 of yokes 41 adjacent to magnetic poleparts 242, 244 of core assembly 20. Further, electromagnetic actuator 10uses no magnet, so that a low-cost configuration can be achieved.Bellows-shaped springs that are plate-shaped elastic parts 50 (50-1,50-2) enable dispersion of the stress, so that the reliability can beimproved. Especially, because movable part 40 is supported by aplurality of plate-shaped elastic parts 50 (50-1, 50-2), more effectivedispersion of the stress is possible. As described, electromagneticactuator 10 is capable of providing a more direct sense of touch bydriving up-and-down direction thereto to the operator who touches screen2 a in up-and-down direction.

Core assembly 20 having core 24 around which coil 22 is wound is fixedto fixing part 30. This core assembly 20 is disposed in opening part 48of yokes 41 of movable part 40 which is movably supported in Z-directionby plate-shaped elastic parts 50 with respect to fixing part 30.Thereby, it becomes unnecessary to stack members provided for each ofthe fixing part and movable part in Z-direction (e.g., place the coiland magnet opposite each other in Z-direction) in order to generatemagnetism to drive the movable part in Z-direction, so that thethickness in Z-direction can be reduced as the electromagnetic actuator.Further, by reciprocating linear movement of movable part 40, theoperation device can give the vibration as the haptic feeling withoutusing a magnet. Thus, the design becomes simple because the supportstructure is simple, it is possible to save space, it is possible toreduce the thickness of electromagnetic actuator 10. Further, because itis not an actuator using a magnet, it is possible to reduce the cost ascompared with the configuration using a magnet.

Hereinafter, the driving principle of electromagnetic actuator 10 willsimply be described. Electromagnetic actuator 10 can be driven bygenerating a resonance phenomenon with a pulse by using following motionexpression and circuit expression. Note that the actions are notresonance driven but for expressing operational feeling of mechanicalswitches displayed on the touch panel. In the present embodiment, theactions are driven by inputting a plurality of current pulses throughcontrol device 1. Examples of the mechanical switch may be a hapticswitch, alternate-type switch, a momentary switch, a toggle switch, aslide switch, a rotary switch, a DIP switch, and a rocker switch.

Note that movable part 40 in electromagnetic actuator 10 performsreciprocating motion based on Expressions (1) and (2).

$\begin{matrix}{\left\lbrack {{Expression}\mspace{14mu} 1} \right\rbrack \mspace{590mu}} & \; \\{{{m\frac{d^{2}{x(t)}}{{dt}^{2}}} = {{K_{f}{i(t)}} - {K_{sp}{x(t)}} - {D\frac{{dx}(t)}{dt}}}}{m\text{:}\mspace{14mu} {{Mass}\mspace{14mu}\lbrack{kg}\rbrack}}{{x(t)}\text{:}\mspace{14mu} {{Displacement}\mspace{14mu}\lbrack m\rbrack}}{K_{f}\text{:}\mspace{14mu} {Thrust}\mspace{14mu} {{constant}\mspace{14mu}\left\lbrack {N\text{/}A} \right\rbrack}}{{i(t)}\text{:}\mspace{14mu} {{Current}\mspace{14mu}\lbrack A\rbrack}}{K_{sp}\text{:}\mspace{14mu} {Spring}\mspace{14mu} {{constant}\mspace{14mu}\left\lbrack {N\text{/}m} \right\rbrack}}{D\text{:}\mspace{14mu} {Attenuation}\mspace{14mu} {{coefficient}\mspace{14mu}\left\lbrack {N\text{/}\left( {m\text{/}s} \right)} \right\rbrack}}} & (1) \\{\left\lbrack {{Expression}\mspace{14mu} 2} \right\rbrack \mspace{590mu}} & \; \\{{{e(t)} = {{{Ri}(t)} + {L\frac{{di}(t)}{dt}} + {K_{e}\frac{{dx}(t)}{dt}}}}{{e(t)}\text{:}\mspace{14mu} {{Voltage}\mspace{14mu}\lbrack V\rbrack}}{R\text{:}\mspace{14mu} {{Resistance}\mspace{14mu}\lbrack\Omega\rbrack}}{L\text{:}\mspace{14mu} {{Inductance}\mspace{14mu}\lbrack H\rbrack}}{K_{e}\text{:}\mspace{14mu} {Counter}\mspace{14mu} {electromotive}\mspace{14mu} {force}\mspace{14mu} {{constant}\mspace{14mu}\left\lbrack {V\text{/}\left( {{rad}\text{/}s} \right)} \right\rbrack}}} & (2)\end{matrix}$

That is, mass “m” [kg], displacement “x(t)” [m], thrust constant “K_(f)”[N/A], current “i(t)” [A], spring constant “K_(sp)” [N/m], andattenuation coefficient “D” [N/(m/s)] in electromagnetic actuator 10 canbe changed as appropriate within the range satisfying Expression (1).Also, voltage “e(t)” [V], resistance “R” [Ω], inductance “L” [H], andcounter electromotive force constant “K_(e)” [V/(rad/s)] can be changedas appropriate within the range satisfying Expression (2).

As described, the drive of electromagnetic actuator 10 is determinedbased on mass “m” of movable part 40, and spring constant K_(sp) ofmetal springs (elastic bodies; plate springs in the present embodiment)as plate-shaped elastic parts 50.

Further, in electromagnetic actuator 10, screws 62 and 64 are used forfixing base part 32 and plate-shaped elastic parts 50 and for fixingplate-shaped elastic parts 50 and movable part 40. Thereby, plate-shapedelastic parts 50 required to be firmly fixed to fixing part 30 andmovable part 40 for allowing movable part 40 to drive can be firmlyfixed mechanically in a state capable of reworking.

<Control Device 1>

Control device 1 controls electromagnetic actuator 10 that drives theoperation device (touch panel 2 in FIG. 1) supported elastically tovibrate in one direction in the vibrating direction.

Control device 1 supplies a driving current to electromagnetic actuator10 in response to the touch operation of the operation device togenerate a magnetic field, and moves elastically vibratable movable part40 in one direction with respect to fixing part 30, here in Z-directionminus side. Thus, when the operator touches the operation device,control device 1 gives vibrations as the haptic feeling. Note that thetouch operation may be, for example, a signal indicating a touchcondition input from touch panel 2, or a signal detected by straindetection sensor 70.

In the present embodiment, control device 1 supplies a plurality ofcurrent pulse trains to coil 22 as an electromagnetic actuator drivesignal for driving electromagnetic actuator 10.

By supplying the current pulse to coil 22 by control device 1, movablepart 40 is displaced by the magnetic attraction force against the urgingforce of plate-shaped elastic parts 50, by being drawn back to coil 22side, that is, to Z-direction minus side. Following this, touch panel 2also moves to Z-direction minus side with respect to base 3 which fixingpart 30 is fixed to. Further, by stopping the supply of the drivingcurrent to coil 22, the urging force is released, a holding state ofmovable part 40 at a position in Z-direction minus side relative to astandard position is released. Thereby, movable part 40 is urged to movefrom its maximum displacement position in Z-direction minus side to thedirection (Z-direction plus side) opposite to the drawn direction(Z-direction minus side) due to the urging force of the plate-shapedelastic parts 50, thus feeding back the vibration.

A plurality of current pulse trains has a main drive pulse thatgenerates a main vibration corresponding to a touch operation, and asub-drive pulse that forms an attenuation period of vibration due to themain drive pulse.

The main drive current pulse (hereinafter, also referred to as “maindrive pulse”) is supplied to coil 22 when the operator touches theoperation device (screen 2 a of touch panel 2 in FIG. 1) to driveelectromagnetic actuator 10 to generate the main vibration fed back tothe operator according to the touch operation.

The sub-drive pulse is supplied to coil 22 after the main drive pulse issupplied to form the vibration during the decay period of the mainvibration due to the main drive pulse, that is, the remainingattenuation vibration of the fed-back vibration.

The main drive pulse may generate any magnitude of vibration as long asit constitutes the main vibration to be fed back to the operator intouch operation, and may be formed by a plurality of current pulses.Further, the sub-drive pulse is a drive pulse supplied to coil 22 afterthe supply of the main drive pulse. In the present embodiment, thesub-drive pulse has a brake pulse to shorten attenuation vibration(attenuation period of the vibration) after the feedback vibration bythe main drive pulse, and a attenuation additional pulse to continue thevibration attenuation period after the vibration by the main drivepulse. Note that the sub-drive pulse may have at least one of a brakepulse and attenuation additional pulse.

Various types of vibrating shapes are generated by the amplitude of themain drive pulse and the sub drive pulse, the respective wavelengths,the respective supply timing, and the like, and supplied toelectromagnetic actuator 10 as an actuator drive signal, therebyproviding a feeling to the operator.

Control device 1 includes, for example, a current pulse supply unit, avoltage pulse application unit. The current pulse supply unit supplies aplurality of drive current pulses to coil 22 of electromagnetic actuator10 as a drive current for driving the operation device in response to atouch operation of the operation device (touch panel 2).

In the present embodiment, the plurality of drive current pulses is adrive current pulse train as an actuator drive signal in which a maindrive pulse and a sub drive pulse are combined into one set.

Control device 1 according to the present embodiment outputs a train ofdriving current pulses to coil 22 of electromagnetic actuator 10 whenthe operator touches the operation device (screen 2 a of touch panel 2in FIG. 1) to vibrate an electromagnetic actuator to give the hapticfeeling to the operator. Details of the drive current pulse trainincluding the main drive pulse and the drive current pulse will bedescribed later.

The voltage pulse application unit intermittently applies a plurality ofcontrol voltage pulses each generating a plurality of drive currentpulses (main drive pulse and a sub drive pulse (brake pulse andattenuation additional pulse)) constituting the actuator drive signal tothe current pulse supply unit. Specifically, the voltage pulseapplication unit applies the main drive pulse as the main drive signalthat starts the vibration having a predetermined amplitude andwavelength that is a main haptic feeling when the operator touchesscreen 2 a. In addition, the voltage pulse application unit applies anadjust signal for the vibration attenuation period, which is sub-drivepulse, to the current pulse supply unit after applying main drivesignal.

FIG. 10 is a circuit diagram showing an example of configuration of acontrol device according to an embodiment of the present invention.

In control device 1 shown in FIG. 10, switching element 82 as a currentpulse supply unit configured by a MOSFET (metal-oxide-semiconductorfield-effect transistor), signal generating unit (Signal generation) 84as a voltage pulse application unit, resistors R1, R2, and SBD (SchottkyBarrier Diodes) are provided.

In control device 1, signal generating unit 84 connected to a powersupply voltage Vcc is connected to a gate of switching element 82.Switching element 82 is a discharge changeover switch, connected toelectromagnetic actuator 10 and SBD, and connected to theelectromagnetic actuator (shown by [Actuator] in FIG. 10) to which avoltage is supplied from the power supply unit Vact.

Although not shown, control device 1 may include a CPU (CentralProcessing Unit), a ROM (Read Only Memory), a RAM (Random AccessMemory), and the like for control operation of the components of thevibration presenting device. The CPU reads a program corresponding toprocessing content from the ROM, develops the program in the RAM, andcooperates with the developed program to control operation of thecomponents of the vibration presenting device including electromagneticactuator 10. At this time, various data including various vibrationsattenuation periods pattern stored in a storage unit (not shown) arereferenced. The storage unit (not shown) may be configured by, forexample, a nonvolatile semiconductor memory (so-called flash memory) orthe like. For example, in addition to main drive pulse waveform data,brake pulse waveform data and attenuation additional pulse waveform dataof various plural pattern are stored in a storage unit, ROM, RAM, or thelike. The ROM stores various programs for control the vibrationpresenting device including a vibration presenting program forpresenting vibration by driving the electromagnetic actuator. Thevibration presentation program includes, for example, a program forreading brake pulse waveform data and attenuation additional pulsewaveform data to generate an actuator drive signal that generatesvibration corresponding to the contact information when informationindicating a touch condition is input from the operation device orstrain detection sensor 70; a program for generating an actuator drivesignal corresponding to the contact information by combining the readdata; and a program for supplying the generated actuator drive signal tothe coil. The actuator drive signal is applied to the coil via a driverthat drives the electromagnetic actuator as a combination of a pluralityof current pulses. The CPU may use these programs and data to controlthe operation of the components of the vibration presenting device, andmay control the current pulse supply unit and the voltage pulseapplication unit.

<Vibration Operation by the Control Device>

Control device 1 supplies the current pulse to coil 22 to drive movablepart 40 in one direction of vibration. By supplying the current pulse tocoil 22, movable part 40 is displaced in one direction of the vibratingdirection against the urging force of plate-shaped elastic parts 50.During the supply of the current pulse, the displacement in onedirection of the vibrating direction of movable part 40 is continued. Bystopping the supply of the current pulse, that is, turning off the inputof the current pulse to coil 22, the force to displace in one directionof the vibration direction of movable part 40 (Z-direction) is released.Turning off the input of the current pulse means that the timing inwhich the voltage generating the current pulse is turned off. At themoment the voltage is switched off, the current pulses are notcompletely switched off but attenuated. Movable part 40 is displaced tomove to the other direction (Z-direction plus side) of the vibratingdirection by the urging force of plate-shaped elastic parts 50accumulated at the maximum displaceable position in the drawn direction(Z-direction minus side). Strong vibration is propagated to theoperation device through movable part 40 which has moved to the otherdirection side which is the operation device side, and the hapticfeeling is given to the operator. Control device 1 supplies a pluralityof current pulses to coil 22 including the main drive pulse as a firstpulse and a sub drive pulse (brake pulse, attenuation additional pulse)as a second and subsequent pulses in response to touching screen 2 a bythe operator. In the vibration of movable part 40, by supplying the maindrive pulse, and further supplying the sub-drive pulse after supplyingthe main drive pulse, control device 1 adjusts the vibration thatremains after stopping the supply of the main drive pulse, so-calledvibration attenuation period.

<Supplying Main Drive Pulse>

FIG. 11 is a diagram for explaining the displacement of movable partwhen supplying the main drive pulse to the electromagnetic actuator.Control unit 1 supplies the main drive pulses to coil 22 in response totouching screen 2 a by the operator. Thus, movable part 40 is driven inresponse to the main drive pulse, displaced as shown in FIG. 11, i.e.vibrated, thereby the vibration attenuation period is generated. Thus,control device 1 gives various types of haptic feeling when the operatortouches the operation device by adjusting a strength of the vibrationattenuation, a length of the vibrating attenuation period, or a presenceor absence of the vibrating attenuation period.

Here, the vibration period T in electromagnetic actuator 10 is shown bythe following Expression (3) in which the mass of movable part 40 whichis a portion to be movable (here is described by movable part 40 forconvenience even though including touch panel 2) is “m” and the springconstant of a plate spring which is plate-shaped elastic part 50 forelastically supporting movable part 40 is “Ks.”

[Expression  3]                                     $\begin{matrix}{T = {2\pi \sqrt{\frac{m}{Ks}}}} & (3)\end{matrix}$

In the present embodiment, the vibration period T is an interval fromtiming of the maximum displacement of the negative side to timing of thenext maximum displacement.

<Supplying Sub-Drive Pulse>

After the main drive pulse is supplied, the second and subsequentcurrent pulses for supplying to coil 22 are supplied to coil 22 at apredetermined timing as sub drive pulses (brake pulses and attenuationadditional pulses). In other words, the current pulse supply unitsupplies the drive current pulse (brake pulse, attenuation additionalpulse) as the sub-drive current pulse capable of adjusting attenuationduration of the elastic vibration after supplying the drive currentpulse as the main drive current pulse capable of starting the elasticvibration.

This adjusts the attenuation period of the vibration caused by the maindrive pulse. That is, the sub-drive pulses adjust the magnitude and thelength of the free vibration following the main vibration by the maindrive pulse.

The predetermined timing is set from timing Ts in which the main drivepulse as the first pulse supplied to coil 22 is turned off to range of½T before and after timing of the maximum displacement (peak) on thepositive side in the vibration period T(n) of the elastic vibration byplate-shaped elastic parts 50 supporting touch panel 2 and movable part40. The predetermined timing can be said that timing excludes the timingof the maximum displacement amount (peak) of the positive side and thenegative side. Thus, the operation device is vibrated to give a varietyof the haptic feeling to the operator.

<Supplying Brake Pulse>

The brake pulse can attenuate the vibration caused by the current pulse,is intended to supply so as to shorten the attenuation period of thevibration caused by the main drive pulse in the present embodiment.

Specifically, control device 1 sets input (supply) timing of the secondand subsequent current pulses to be supplied to coil 22 among theplurality of current pulses after supplying the main drive pulse to coil22. More specifically, the input (supply) timing of the second pulsesubsequent current pulses is set from timing Ts that the main drivepulse of the first pulse is turned off to range of the vibration periodT(n−1) to T(n−1)+½T (n is a natural number). Here, n indicates timing ofthe vibration period of the current pulse supplied as a sub-drive pulse(brake pulse) in a plurality of current pulse trains that areelectromagnetic actuator drive signal. Note that if n is a naturalnumber of 2 or more, the attenuation period of the vibration after themaximum displacement of the positive side by the main drive pulse can beshortened without attenuating the maximum displacement of the positiveside by the main drive pulse of the first pulse.

For example, when n=2, during the displacement from the maximumdisplacement amount side of the negative side (one directional side) tothe maximum displacement amount side of the positive side (the otherdirectional side) in the second vibration period among the second andsubsequent vibration periods, movable part 40 is displaced to themaximum displacement amount side of the negative side (one directionalside) to brake. Thus, the amplitude of movable part 40 (the length up tothe maximum displacement amount of the negative side) is shortenedduring the attenuation period of the main drive pulse, thereby thevibration during the attenuation period is suppressed, the attenuationperiod is shortened and it is possible to give the vibration thatbecomes shape haptic feeling.

FIG. 12 is a diagram showing an example of the electromagnetic actuatordrive signal that is input to the electromagnetic actuator of thecontrol device according to an embodiment of the present invention. Notethat, in the displacement amount (see FIG. 11) of the movable part(including the operation device) at the time of supplying the main drivepulse, FIG. 12 shows a pattern of supplying the brake pulse in thesecond period of the vibration period of the electromagnetic actuator,n=2.

In FIG. 12, control device 1 sets the supply timing of the secondcurrent pulse within a period of displacement from the maximumdisplacement amount (peak) of the negative side to the maximumdisplacement amount (peak) of the positive side during the attenuationperiod of the vibration by the main drive pulse after the main drivepulse is supplied to coil 22. Specifically, the second pulse is suppliedfrom the maximum displacement amount (after T) on the negative side ofthe second period of the vibration period to the maximum displacementamount (peak) on the positive side. That is, the brake pulse exerts asuction force in the negative direction with respect to movable part 40which is moving from the negative side to the positive side. Note thatthe current pulses are not supplied at peak of the displacement ofmovable part 40. When the vibration displacement (corresponding to thedisplacement of movable part 40) reaches the positive peak, the supplyof the current pulse is turned off. In the present embodiment, thecurrent pulses are not supplied when the displacement of the vibrationis the maximum displacement amount of the positive or negative side.

This suppresses the following displacement after peak of thedisplacement caused by the main drive pulse. The vibration attenuationperiod is shortened. Therefore, the operator is given the sharp hapticfeeling.

FIG. 13 is a diagram showing an example of the electromagnetic actuatordrive signal that is input to the electromagnetic actuator of thecontrol device according to an embodiment of the present invention. FIG.13 shows a pattern of supplying the brake pulse in the third period ofthe vibration period of the electromagnetic actuator, n=3 regarding anattenuation part of the main vibration of the movable part (includingthe operation device) at the time of supplying the main drive pulse.

The supply timing of the second current pulse is set within a period ofdisplacement from the maximum displacement amount (peak) of the negativeside of the third period of the attenuation period of the vibration bythe main drive pulse to the maximum displacement amount (peak) of thepositive side after the main drive pulse is supplied to coil 22. Notethat when the displacement reaches the maximum displacement amount(peak) of the positive side, the supply of the current pulse is turnedoff. That is, at the time of the vibration period after the secondpulse, during the displacement from the maximum displacement amount ofthe negative side (one directional side) to the maximum displacementamount of the positive side (the other directional side), movable part40 is displaced to the maximum displacement amount side of the negativeside (one directional side) to brake. Note that the displacement to themaximum displacement amount side of the negative side is thedisplacement to the one direction side of movable part 40 (Z-directionminus side), the displacement to the maximum displacement amount side ofthe positive side is the displacement to the other direction side ofmovable part 40 (Z-direction plus side). Thus, the amplitude of movablepart 40 (the length up to the maximum displacement amount of thenegative side) is shortened during the attenuation period of thevibration, thereby the vibration during the attenuation period issuppressed, the attenuation period is shortened and it is possible togive the vibration that becomes shape haptic feeling after giving themain vibration.

<Supply of Attenuation Additional Pulse>

Attenuation additional pulses attenuate the vibration caused by thecurrent pulse. In the present embodiment, the attenuation additionalpulses are supplied to increase attenuation period of the vibrationsupplied by the main drive pulse. When supplying the attenuationadditional pulses, control device 1 sets input (supply) timing of thesecond and subsequent current pulses to be supplied to coil 22 among theplurality of current pulses. Specifically, the input (supply) timing ofthe second and subsequent current pulses is set from timing Ts that themain drive pulse of the first pulse is turned off to range of thevibration period T(n−1)+½T to T(n−1)+T (n is a natural number). Here, nindicates timing of the vibration period of the current pulse suppliedas a sub-drive pulse (attenuation additional pulse) in a plurality ofcurrent pulse trains that are electromagnetic actuator drive signal.

Control device 1 sets the supply timing of the second and subsequentcurrent pulses within a period of displacement from the maximumdisplacement amount (peak) of the positive side to the maximumdisplacement amount (peak) of the negative side during the attenuationperiod of the vibration by the main drive pulse after the main drivepulse is supplied to coil 22. That is, during the displacement from themaximum displacement amount of the positive side to the maximumdisplacement amount of the negative side (from the other directionalside to one directional side) in the vibration period among the secondand subsequent vibration periods, an urging force to the maximumdisplacement amount side of the negative side (one directional side) formovable part 40 is added to help the displacement to the maximumdisplacement amount side of the negative side.

Thus, the amplitude of movable part 40 is increased during theattenuation period of the vibration, thereby a period to give the hapticfeeling by the vibration to the operator is increased and it is possibleto express the vibration that becomes deep haptic feeling.

FIG. 14 is a diagram showing an example of the electromagnetic actuatordrive signal that is input to the electromagnetic actuator of thecontrol device according to an embodiment of the present invention. Inthe displacement amount (see FIG. 11) of the movable part (including theoperation device) at the time of supplying the main drive pulse, FIG. 14shows a pattern of supplying the attenuation additional pulse in thesecond period of the vibration period of the electromagnetic actuator,n=2.

The electromagnetic actuator drive signal shown in FIG. 14 provides theattenuation additional pulse after the main drive pulse is supplied.

In FIG. 14, control device 1 supplies a current pulse as the attenuationadditional pulse of the second pulse supplied to coil 22 when supplyingthe attenuation additional pulse after supplying the main drive pulse.

Thus, as shown in FIG. 14, while movable part 40 is displaced from themaximum displacement amount of the positive side of the second period tothe maximum displacement amount of the negative side of the thirdperiod, i.e., in the course of displacing movable part 40 to onedirection (a direction for urging, the negative side) after the maximumdisplacement amount of the positive side of the second period, thecurrent pulse is supplied to coil 22. That is, the urging force isincreased, movable part 40 is displaced to the maximum displacementamount side of the negative side, the maximum displacement amount of thenegative side becomes deeper than the vibration period duringattenuation period, and the vibration further continues.

This allows the vibration attenuation period to be longer thanattenuation period of the vibration for main drive pulses only, therebyit is possible to give the deep haptic feeling to the operator.

FIG. 15 is a diagram showing an example of the electromagnetic actuatordrive signal that is input to the electromagnetic actuator of thecontrol device according to an embodiment of the present invention. Inthe displacement amount (see FIG. 11) of the movable part (including theoperation device) at the time of supplying the main drive pulse, FIG. 15shows a pattern of supplying the attenuation additional pulse in thethird period of the vibration period of the electromagnetic actuator,n=3.

The supply timing of the second current pulse is set within a period ofdisplacement from the maximum displacement amount (peak) of the positiveside of the third period of the attenuation period of the vibration bythe main drive pulse to the maximum displacement amount (peak) of thenegative side of the third period after the main drive pulse is suppliedto coil 22. Note that when the displacement reaches the maximumdisplacement amounts of the positive and negative side, the supply ofthe current pulse is turned off.

That is, during the displacement from the maximum displacement amount ofthe positive side (the other directional side) to the maximumdisplacement amount of the negative side (one directional side) in thesecond and subsequent vibration periods, movable part 40 is displaced tothe maximum displacement amount of the negative side (one directionalside) to brake. Thus, the amplitude of movable part 40 (the length up tothe maximum displacement amount of the negative side) is increasedduring the attenuation period of the vibration, the urging force isincreased, the attenuation period becomes longer and it is possible toexpress the vibration that becomes deep haptic feeling after giving themain vibration.

Thus, in an actuator drive signal having a plurality of current pulsesincluding a main drive pulse, the vibration attenuation period can bevaried depending on whether the brake pulse is supplied, the attenuationadditional pulse is supplied, or both are supplied at timing of thevibration period T(n−1) corresponding to the main drive pulse train tobe supplied. Therefore, it is possible to realize the expression ofvibration of various touch operation feeling.

<Supplying Brake Pulse+Attenuation Additional Pulse>

FIGS. 16 and 17 are diagrams showing an example of the electromagneticactuator drive signal input to the electromagnetic actuator of thecontrol device according to an embodiment of the present invention.These show an example in which the attenuation period of the elasticvibration is adjusted by the brake pulse and the attenuation additionalpulse.

When the attenuation of the vibration is adjusted using both the brakepulse and the attenuation additional pulse, the supply timing of thebrake pulse ranges from T(n−1) to T(n−1)+½T (where n is a naturalnumber) after the main drive current pulse is turned off in the elasticvibration. Further, the supply timing of the attenuation additionalpulse ranges from T(n−1)+½T to T(n−1)+T(where n is a natural number)after the main drive current pulse is turned off in the elasticvibration.

In FIG. 16, coil 22 is supplied the brake pulses and the attenuationadditional pulses as sub-drive pulses thereto. Note that the n fordetermining the supply timing of the brake pulse may be different or thesame as the n for determining the supply timing of the attenuationadditional pulse. For example, the supply timing of the brake pulse isset to n1=2, and the main drive current pulse is turned off. Then, it isadded to the second period of the vibration period within the range ofT(n−1) to T(n−1)+½T. In addition, the supply timing of the attenuationadditional pulse is set to n2=2, and after the main drive pulse isturned off, it is added to the second period of vibration period withinthe range of T(n−1)+½T to T(n−1)+T.

Thus, FIG. 16 shows a pattern of the current pulse train in which thebrake pulse and the attenuation additional pulse are added on the secondperiod of the vibration period based on the respective supplyconditions, and the displacement of the elastic vibration due to thepattern (corresponding to the displacement of movable part 40). Thismakes the attenuation of the vibration after the vibration feedback bythe main drive pulse shorter by the brake pulse and longer by theattenuation additional pulse. As a result, it is possible to give asharp and deep haptic feeling to the operator.

In FIG. 17, coil 22 is supplied the brake pulses and the attenuationadditional pulses as sub-drive pulses thereto. The supply timing of thebrake pulse is set to n1=3, and the supply timing of the attenuationadditional pulse is set to n2=3, and this shows a pattern in which boththe brake pulse and the attenuation additional pulse are added to thethird period of the vibration, and the displacement of the elasticvibration due to the pattern. The pattern shown in FIG. 17 differs fromthe pattern in FIG. 16 in that the attenuation of the vibration afterthe vibration feedback by the main drive pulse is shortened by the brakepulse and lengthened by the attenuation additional pulse. This makes itpossible to give a deep haptic feeling to the operator in addition to asharp haptic feeling.

Thus, control device 1 can provide the sharp and deep haptic feeling bythe brake pulse with various variation.

FIG. 18 is a diagram for explaining a supply timing of the sub-drivepulse. Note that in electromagnetic actuator 10, when the inductance isincreased, timing (vibration period, or half cycle) in which thedisplacement of movable part 40 is maximized (peak) may be delayed fromtiming Ts in which the current pulse is turned off by the transientcurrent. In such cases, the supply timing of the sub-drive pulsecorresponding to the vibration period deviates from the actual vibrationperiod.

In contrast, control device 1 is provided with a delay time LT in theinput timing of the second and subsequent current pulses. That is, whensupplying the brake pulse or the attenuation additional pulse which isthe current pulse of the second pulse after supplying the main drivepulse, the brake pulse or the attenuation additional pulse is suppliedat timing which has the delay time LT from timing Ts in which the maindrive pulse is turned off. That is, when supplying the brake pulse, thesupply timing of the brake pulse ranges from T(n−1) to T(n−1)+½T afterthe predetermined delay time LT has elapsed after the main drive pulseis turned off (timing Ts). Further, when supplying the attenuationadditional pulse, the supply timing of the attenuation additional pulseranges from T(n−1)+½T to T(n−1) after the predetermined delay time LThas elapsed after the main drive pulse is turned off (timing Ts).

Thus, the supply timing of the sub-drive pulse can be matched to theactual vibration period or half cycle, it is possible to performattenuation adjust of the preferred vibration to provide an excellenthaptic feeling.

In vibration presenting device, when the operator touches the operationdevice, control device 1 vibrates the touch point in response to thetouch to give the haptic feeling to the operator.

Specifically, touch position information and/or touch informationindicating that the operator has touched from strain detection sensor 70is input to control device 1. Control device 1 receives the touchinformation and drives the electromagnetic actuator to generatevibration. The actuator drive signal that generates vibration is formedcorresponding to the touch information.

Control device 1 generates the actuator drive signal using the maindrive pulses, the brake pulses, and the attenuation additional pulsesdescribed above. The main drive pulse, the brake pulse, and theattenuation additional pulse may be combined in any configuration thatcombines the main drive pulse with the sub drive pulse (the brake pulse,the attenuation additional pulse) to form the electromagnetic actuatordrive signal. The main drive pulse, the brake pulse, and the attenuationadditional pulse may be configured in advance a plurality of types,which differ in amplitude and pulse width, respectively, and the maindrive pulse and the sub drive pulse may be combined in any way.

FIGS. 19 and 20 are flowcharts showing an example of operations fordriving electromagnetic actuator 10 by control device 1 according to anembodiment of the present invention. With operation shown in FIGS. 19and 20, control device 1 drives electromagnetic actuator 10 to generatefeedback vibrations.

Note that in FIGS. 19 and 20, the main drive pulse, the brake pulse andthe attenuation additional pulse are described as the main vibrationsignal, the vibration attenuation period brake signal and the vibrationattenuation period addition signal from their function.

When the main drive pulse is supplied to the electromagnetic actuator(specifically, coils 22), as shown in FIG. 19, control device 1 outputsthe main vibration signal, which is the main drive pulse, as theactuator drive signal when the operator touches the operation device(step S10). The output main vibration signal is supplied to coil 22 togenerate an electromagnetic force, movable part 40 is driven to vibrate.The vibration is fed back as a main vibration to the operator via theoperation device, and is given as a haptic feeling to the operator.

Note that the displacement of movable part 40 by the main drive pulsesupplied to coil 22 reaches peak of the maximum displacement in thepositive direction by the main drive pulse, and is attenuated aftergenerating a feedback vibration (see FIG. 11).

FIGS. 20A-20C show control generating vibrations with adjust ofattenuation period of the vibration being fed back. As shown in FIGS.20A to 20C, after outputting the main vibration (step S10), attenuationperiod of the vibration is adjusted. As steps for adjusting thevibration attenuation period, after the step S10 for outputting the maindrive signal, it is possible to appropriately combine a step S20 forsupplying the vibration attenuation period brake signal and a step S30for outputting the vibration attenuation period addition signal as thevibration attenuation adjust. This allows attenuation of the vibrationto be adjusted to produce various vibration pattern, gives a variety ofhaptic feelings.

Thus, according to the present embodiment, it is possible to reduce thecost without using a magnet or the like, while reducing the cost of theentire device, it is possible to express the vibration of various touchoperation feeling. Further, according to the present embodiment, it ispossible to increase the output by efficient driving even in a smallproduct. In addition, low power consumption can be realized.

It is possible to efficiently generate a thrust force of movable part 40suitable for a haptic feeling to the operator who operates the operationdevice while reducing the cost.

Thus, in the present embodiment, the vibration to be a variety of touchoperation feeling is not adjusted by an attenuation material such asrubber. The attenuation material results in a single vibrationattenuation period depending on the attenuation material itself, butthis is not the case in the present embodiment. The poor variation ofthe vibration attenuation period limits the type of the operationfeeling to be expressed, but this is not the case in the presentembodiment. In addition, there is no change in resonant frequencies dueto individual differences in the attenuation materials, and thecharacteristics of the resonant frequencies do not differ from productto product.

It is preferable that a plurality of plate-shaped elastic parts 50 isfixed at positions symmetrical with respect to the center of movablepart 40, but as described above, one plate-shaped elastic part 50 maysupport movable part 40 so as to be able to vibrate with respect tofixing part 30. Plate-shaped elastic part 50 may include at least two ormore arm portions connecting movable part 40 and fixing part 30 andhaving bellows-shaped elastic arm parts 56. Plate-shaped elastic part 50may be made of a magnetic material. In this case, movable-part sidefixing parts 54 of plate-shaped elastic parts 50 are respectivelyarranged in a winding axis direction of coil 22, or, in a directionperpendicular to the winding axis direction with respect to both endportions of core 24. Movable-part side fixing part 54 s of plate-shapedelastic parts 50 form the magnetic paths together with core 24 when coil22 is energized.

Further, in the configuration of electromagnetic actuator 10, rivets maybe used instead of the screws 62, 64, 68 for fixing of base part 32 andplate-shaped elastic part 50, and, fixing of plate-shaped elastic part50 and movable part 40. Rivets consist of a head and a body without ascrew part, and are inserted into holes of a members, and members arejoined together by plastically deforming by caulking the opposite end ofthe rivets. The caulking may be performed using, for example, a pressmachine, a dedicated tool, or the like.

Based on strain data obtained by strain detection sensor 70, it may bepossible to perform correction of the period of the input pulse due toindividual differences of the components in electromagnetic actuator 10.

As described above, embodiments of the present invention have beendescribed. Note that the above description is illustrative of apreferred embodiment of the present invention, and the scope of thepresent invention is not limited thereto. That is, the configuration ofthe device and the shape of each part are only examples, and it isobvious that various modifications and additions to these examples arepossible within the scope of the present invention.

In the present embodiment, although the driving direction of theelectromagnetic actuator controlled driving by control device 1 is the Zdirection, the present invention is not limited thereto. It is possibleto obtain the effects such as the above-described efficient driving andstrengthening of the vibration even in the direction parallel to thetouch surface of the operator, specifically, X-direction or Y-direction.

INDUSTRIAL APPLICABILITY

The electromagnetic actuator according to the present invention has aneffect capable of expressing vibrations of various touch feelings. Forexample, in automotive products and industrial equipment, it is usefulfor operation devices in which operations are input by touching a fingeror the like to an image on a screen, such as a touch display deviceequipped with a touch panel device that can feed back a sense ofoperation similar to the sense of operation when touching various imagessuch as a mechanical switch displayed on the image.

REFERENCE SIGNS LIST

-   1 Control device-   10 Electromagnetic actuator-   20 Core assembly-   20 a, 20 b Counter surface (Counter surface part)-   22 Coil-   24 Core-   26 Bobbin-   30 Fixing part-   32 Base part-   32 a Attaching part-   32 b Bottom surface part-   33 Fastening hole-   36 Opening part-   40 Movable part-   41 Yoke-   42 Surface-part fixing hole-   44 Surface-part fixing part-   44 a Fixing surface-   46, 47 Attracted surface part-   48 Opening part-   49 Cutout-   50 Plate-shaped elastic part (elastic support part)-   52 Fixing-part side fixing part-   54 Movable-part side fixing part-   56 Bellows-shaped elastic arm part-   70 Strain detection sensor-   82 Switching element-   84 Signal generating unit-   200 Vibration presenting device-   241 Core main body-   242, 244 Magnetic pole part-   321, 322 Fixing hole

What is claimed is:
 1. A control device for controlling anelectromagnetic actuator that vibrates an operation device by drivingthe operation device supported by an elastic support part so as to beelastically vibrated in one direction in a vibrating direction thereof,the control device comprising: a current pulse supply unit configured tosupply a driving current pulse to a coil of the electromagnetic actuatoras a driving current for driving the operation device in accordance witha touch operation of the operation device, wherein the current pulsesupply unit is configured to supply the drive current pulse capable ofstarting the elastic vibration as a main driving current pulse, and thensupply the drive current pulse capable of adjusting attenuation periodof the elastic vibration as a sub-driving current pulse.
 2. The controldevice according to claim 1, the current pulse supply unit is configuredto supply the sub-drive current pulse during the elastic vibration afterturning off the main drive current pulse.
 3. The control deviceaccording to claim 1, the current pulse supply unit is configured tosupply the sub-drive current pulse when the elastic vibration of then-th period (n is a natural number) after turning off the main drivecurrent pulse, and a supplying timing of the sub-drive current pulse isin the range from T(n−1) to T(n−1)+½T after the main drive current pulseis turned off, where, in the elastic vibration, the mass of the movablepart is m, the spring constant of the elastic support part is Ks, andthe vibration period is T=2π√(m/Ks).
 4. The control device according toclaim 1, the current pulse supply unit is configured to supply thesub-drive current pulse when the elastic vibration of the n-th period (nis a natural number) after turning off the main drive current pulse, anda supplying timing of the sub-drive current pulse is in the range fromT(n−1)+½T to T(n−1)+T after the main drive current pulse is turned off,where, in the elastic vibration, the mass of the movable part is m, thespring constant of the elastic support part is Ks, and the vibrationperiod is T=2π√(m/Ks).
 5. The control device according to claim 3, apulse width of the sub-drive current pulse is ½T or less.
 6. The controldevice according to claim 3, a supply timing of the sub-drive currentpulse is in the range from T(n−1) to T(n−1)+½T after a predetermineddelay time has elapsed after the main drive current pulse is turned off.7. The control device according to claim 4, a supply timing of thesub-drive current pulse is in the range from T(n−1)+½T to T(n−1)+T aftera predetermined delay time has elapsed after the main drive currentpulse is turned off.